The medium-soft Cocoon mattress is designed to be fully supportive without being overly firm, while the extra-firm mattress is designed to give sturdy support and a denser mattress feel.

The problem is that most of these mattresses carry a hefty price tag. The good news? There are a number of budget-friendly options as well, like Sealy's ... at a proper medium-firm.

Despite the effort to appease the FTC, Tempur Sealy's $4 billion acquisition of Mattress Firm still headed to court. Editor's note: Through the end of the year, we're taking a look back on the ...